CN110774299B - Fingertip mechanism - Google Patents
Fingertip mechanism Download PDFInfo
- Publication number
- CN110774299B CN110774299B CN201910978510.9A CN201910978510A CN110774299B CN 110774299 B CN110774299 B CN 110774299B CN 201910978510 A CN201910978510 A CN 201910978510A CN 110774299 B CN110774299 B CN 110774299B
- Authority
- CN
- China
- Prior art keywords
- gear
- friction wheel
- driving mechanism
- supporting body
- rotary table
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a fingertip mechanism which comprises a supporting body, a rotary table, a friction wheel, a first rotation driving mechanism and a second rotation driving mechanism, wherein the first rotation driving mechanism drives the rotary table to rotate, the second rotation driving mechanism drives the friction wheel to rotate, the first rotation driving mechanism and the second rotation driving mechanism are respectively arranged on the supporting body, the rotary table is connected with the first rotation driving mechanism, a rotary table groove for containing a cylinder is arranged on the rotary table, the friction wheel is arranged at the bottom of the rotary table groove, and the friction wheel is connected with the second rotation driving mechanism. The invention has the beneficial effects that: the first rotation actuating mechanism drive revolving stage of accessible rotates to realize moving in hand rotatory of cylinder, the accessible second rotates actuating mechanism drive friction pulley and rotates, applys tangential frictional force to the cylinder, thereby realizes the cylinder at hand translation motion.
Description
Technical Field
The invention relates to a manipulator, in particular to a fingertip mechanism.
Background
At present, the assembly of bolts on an automatic assembly production line is mainly completed by the cooperation of a feeding mechanism and a mechanical arm, the method occupies a large space, the feeding mechanism must be matched with the size of the assembled parts, and the feeding mechanism must be replaced when the size of the parts is changed, so that the transformation cost is high, and the flexible production requirement is not met. In order to replace the feeding mechanism, a scheme for realizing the grabbing, the pose adjusting and the assembling of random parts by serial work of four mechanical arms is firstly proposed by a Mitsubishi motor in Japan. Although the scheme improves the flexible assembly degree, the problems of high cost and large occupied area still exist.
Disclosure of Invention
To solve the problems in the prior art, the present invention provides a fingertip mechanism.
The invention provides a fingertip mechanism which comprises a supporting body, a rotary table, a friction wheel, a first rotation driving mechanism and a second rotation driving mechanism, wherein the first rotation driving mechanism drives the rotary table to rotate, the second rotation driving mechanism drives the friction wheel to rotate, the first rotation driving mechanism and the second rotation driving mechanism are respectively arranged on the supporting body, the rotary table is connected with the first rotation driving mechanism, a rotary table groove for containing a cylinder is arranged on the rotary table, the friction wheel is arranged at the bottom of the rotary table groove, and the friction wheel is connected with the second rotation driving mechanism.
As a further improvement of the present invention, the friction wheel includes a friction wheel housing and a friction wheel trapezoidal rubber pad, the friction wheel trapezoidal rubber pad is disposed inside the friction wheel housing, and the friction wheel housing is connected to the second rotation driving mechanism.
As a further improvement of the invention, the turntable comprises a turntable base and a turntable supporting body, the turntable supporting body is arranged on the turntable base, the groove of the turntable is a V-shaped groove, the V-shaped groove is positioned on the turntable supporting body, and the friction wheel trapezoidal rubber pad is positioned at the bottom of the V-shaped groove.
As a further improvement of the present invention, the first rotary driving mechanism includes a first motor, a first gear, a second gear, a third gear and a fourth gear, the first motor is fixed to the back surface of the support body, the first gear, the second gear, the third gear and the fourth gear are respectively disposed on the front surface of the support body, the first motor is connected to the first gear, the first gear is engaged with the second gear, the second gear is engaged with the third gear, the third gear is engaged with the fourth gear, and the fourth gear is connected to the turntable base.
As a further improvement of the invention, the second rotary driving mechanism comprises a second motor, a fifth gear, a sixth gear, a seventh gear, an eighth gear, a ninth gear and a friction wheel rotating shaft, the second motor is fixed on the back of the support body, the fifth gear, the sixth gear and the seventh gear are respectively arranged on the front of the support body, the eighth gear and the ninth gear are respectively arranged on the back of the supporting body, the seventh gear and the eighth gear are coaxial duplicate gears, the second motor is connected with the fifth gear, the fifth gear is meshed with the sixth gear, the sixth gear is engaged with the seventh gear, the eighth gear is engaged with the ninth gear, the ninth gear is connected with the rotating shaft of the friction wheel, and the rotating shaft of the friction wheel penetrates through the supporting body and is connected with the shell of the friction wheel.
As a further improvement of the present invention, the friction wheel rotating shaft penetrates through the fourth gear and is connected with the friction wheel housing.
As a further improvement of the invention, the friction wheel rotating shaft is coaxial with the fourth gear.
As a further improvement of the invention, the friction wheel trapezoidal rubber pad is in a circular ring shape, and the V-shaped groove is tangent to or intersected with the friction wheel trapezoidal rubber pad.
As a further improvement of the invention, the supporting body is provided with a mounting hole.
The invention has the beneficial effects that: through above-mentioned scheme, the first rotation actuating mechanism drive revolving stage of accessible rotates to realize moving in hand rotatory of cylinder, the accessible second rotates actuating mechanism drive friction pulley and rotates, applys along its axial tangential frictional force to the cylinder, thereby realizes the translation motion in hand of cylinder.
Drawings
Fig. 1 is a schematic front view of a fingertip mechanism of the present invention.
Fig. 2 is a schematic rear view of a fingertip mechanism of the present invention.
Fig. 3 is a schematic view of the internal structure of a fingertip mechanism of the present invention.
Detailed Description
The invention is further described with reference to the following description and embodiments in conjunction with the accompanying drawings.
As shown in fig. 1 to 3, a fingertip mechanism includes a housing, the housing includes a housing base 21 and a housing cover 22, the housing includes a support 1, a turntable, a friction wheel, and a drive, a first rotation driving mechanism and a second rotation driving mechanism are provided for driving the turntable, the first rotation driving mechanism and the second rotation driving mechanism are respectively provided on the support 1, the turntable is connected to the first rotation driving mechanism, a turntable groove for accommodating a cylinder is provided on the turntable, the friction wheel is provided at a groove bottom of the turntable groove, and the friction wheel is connected to the second rotation driving mechanism, so that a hand-operated bolt, a stud and other cylinders can be operated.
As shown in fig. 1 to 3, the friction wheel includes a friction wheel housing 19 and a friction wheel trapezoidal rubber pad 20, the friction wheel trapezoidal rubber pad 20 is disposed inside the friction wheel housing 19, and the friction wheel housing 19 is connected to the second rotation driving mechanism.
As shown in fig. 1 to 3, the turntable includes a turntable base 15 and a turntable support 16, the turntable support 16 is disposed on the turntable base 15, the groove of the turntable is a V-shaped groove, the V-shaped groove is located on the turntable support 15, and the trapezoidal rubber pad 20 of the friction wheel is located at the bottom of the V-shaped groove.
As shown in fig. 1 to 3, the first rotary driving mechanism includes a first motor 2, a first gear 10, a second gear 5, a third gear 24, and a fourth gear 9, the first motor 2 is fixed to the back surface of the supporting body 1, the first gear 10, the second gear 5, the third gear 24, and the fourth gear 9 are respectively disposed on the front surface of the supporting body 1, the first motor 2 is connected to the first gear 10, the first gear 10 is engaged with the second gear 5, the second gear 5 is engaged with the third gear 24, the third gear 24 is engaged with the fourth gear 9, and the fourth gear 9 is connected to the turntable base 15.
As shown in fig. 1 to 3, the second rotation driving mechanism includes a second motor, a fifth gear 12, a sixth gear 8, a seventh gear 7, an eighth gear 25, and a friction wheel rotating shaft 14, the second motor is fixed on the back surface of the supporting body 1, the fifth gear 12, the sixth gear 8, and the seventh gear 7 are respectively disposed on the front surface of the supporting body 1, the eighth gear and the ninth gear 25 are respectively disposed on the back surface of the supporting body 1, the seventh gear 7 and the eighth gear are coaxial duplicate gears, so that the seventh gear 7 and the eighth gear rotate synchronously, the second motor is connected to the fifth gear 12, the fifth gear 12 is engaged to the sixth gear 8, the sixth gear 8 is engaged to the seventh gear 7, the eighth gear is engaged to the ninth gear 25, the ninth gear 25 is connected to the friction wheel rotating shaft 14, the friction wheel rotating shaft 14 penetrates through the support body 1 and is connected with the friction wheel shell 19.
As shown in fig. 1 to 3, the friction wheel rotating shaft 14 penetrates through the fourth gear 9 and is connected with the friction wheel housing 19.
As shown in fig. 1 to 3, the friction wheel rotating shaft 14 is coaxial with the fourth gear 9.
As shown in fig. 1 to 3, the trapezoidal rubber pad 20 of the friction wheel is circular, and the V-shaped groove is tangent to or intersects with the trapezoidal rubber pad 20 of the friction wheel.
As shown in fig. 1 to 3, the support body 1 is provided with a mounting hole 23.
As shown in fig. 1 to 3, the first motor 2 and the second motor are both micro stepping motors. The fourth gear 9 is mounted on the support 1 by means of a micro-bearing 3. The support body 1 is provided with a motor estimation screw 11. The turntable base 15 is connected to the fourth gear 9 by a turntable fixing screw 13. The turntable support 16 is mounted on the turntable base 15 through a micro stud 17 and a micro screw 18.
The fingertip mechanism provided by the invention has the following working principle:
1. first motor 2 passes through bolt fixed connection with supporter 1, and the output of first motor 2 is connected outside transmission power through interference fit with first gear 10, and first gear 10 rotates through second gear 5, third gear 24 drive fourth gear 9, and wherein fourth gear 9 passes through revolving stage set screw 13 with revolving stage base 15 and is connected, can realize the rotatory operation at hand part.
2. The second motor is another step motor with the same type as the first motor 2, and the connection mode of the second motor and the support body 1 is realized through bolt fixation. The output end of the second motor is connected with the fifth gear 12 through interference fit, the fifth gear 12 drives the ninth gear 25 to rotate through the sixth gear 8, the seventh gear 7 and the eighth gear, the ninth gear 25 is connected with the friction wheel rotating shaft 14 through interference fit, the other end of the friction wheel rotating shaft 14 is connected with the friction wheel shell 19, and translation operation of hand parts can be achieved.
The fingertip mechanism needs to be arranged at the tail ends of common two-finger parallel clamping jaws to be used in pairs, so that four motors need to be controlled during actual work,
taking the bolt as an example, when the bolt is in the V-shaped groove of the turntable, the first rotary driving mechanism rotates to drive the turntable base 15 to rotate, so that the bolt rotates by hand, the second rotary driving mechanism rotates to drive the friction wheel trapezoidal rubber pad 20 to rotate, and tangential friction force along the axis of the bolt exists between the bolt and the friction wheel trapezoidal rubber pad 20, so that when the friction wheel trapezoidal rubber pad 20 rotates, the bolt can be driven to move in a hand translation manner.
The fingertip mechanism provided by the invention adopts a single mechanical arm, the parts are adjusted to the positions required by assembly from random placement positions by hand operation instead of a re-grabbing mode adopted by a Mitsubishi motor. The mechanism can be conveniently arranged at the tail end of a common parallel two-finger clamping jaw.
The fingertip mechanism provided by the invention realizes the assembly of randomly stacked parts by only depending on a single mechanical arm and a common parallel two-finger clamping jaw in a manual operation mode.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (5)
1. A fingertip mechanism, characterized in that: the friction wheel comprises a friction wheel shell and a friction wheel trapezoidal rubber pad, the friction wheel shell is connected with the second rotary driving mechanism, the rotary table comprises a rotary table base and a rotary table supporting body, the rotary table supporting body is arranged on the rotary table base, the rotary table groove is a V-shaped groove, the V-shaped groove is positioned on the turntable supporting body, the friction wheel trapezoidal rubber pad is positioned at the groove bottom of the V-shaped groove, the first rotary driving mechanism comprises a first motor, a first gear, a second gear, a third gear and a fourth gear, the first motor is fixed on the back surface of the supporting body, the first gear, the second gear, the third gear and the fourth gear are respectively arranged on the front surface of the supporting body, the first motor is connected with the first gear, the first gear is meshed with the second gear, the second gear is meshed with the third gear, the third gear is meshed with the fourth gear, the fourth gear is connected with the turntable base, the second rotary driving mechanism comprises a second motor, a fifth gear, a sixth gear, a seventh gear, an eighth gear, a ninth gear and a friction wheel rotating shaft, the second motor is fixed on the back of the supporting body, the fifth gear, the sixth gear and the seventh gear are respectively arranged on the front of the supporting body, the eighth gear and the ninth gear are respectively arranged on the back of the supporting body, the seventh gear and the eighth gear are coaxial duplicate gears, the second motor is connected with the fifth gear, the fifth gear is meshed with the sixth gear, the sixth gear is meshed with the seventh gear, the eighth gear is meshed with the ninth gear, the ninth gear is connected with the friction wheel rotating shaft, and the friction wheel rotating shaft penetrates through the supporting body and is connected with the friction wheel shell.
2. The fingertip mechanism of claim 1, wherein: the friction wheel rotating shaft penetrates through the fourth gear and is connected with the friction wheel shell.
3. The fingertip mechanism of claim 2, wherein: the friction wheel rotating shaft is coaxial with the fourth gear.
4. The fingertip mechanism of claim 1, wherein: the friction wheel trapezoidal rubber pad is circular, and the V-shaped groove is tangent to or intersected with the friction wheel trapezoidal rubber pad.
5. The fingertip mechanism of claim 1, wherein: the supporting body is provided with a mounting hole.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910978510.9A CN110774299B (en) | 2019-10-15 | 2019-10-15 | Fingertip mechanism |
| PCT/CN2019/116198 WO2021072839A1 (en) | 2019-10-15 | 2019-11-07 | Fingertip mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910978510.9A CN110774299B (en) | 2019-10-15 | 2019-10-15 | Fingertip mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110774299A CN110774299A (en) | 2020-02-11 |
| CN110774299B true CN110774299B (en) | 2020-07-31 |
Family
ID=69385469
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910978510.9A Expired - Fee Related CN110774299B (en) | 2019-10-15 | 2019-10-15 | Fingertip mechanism |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110774299B (en) |
| WO (1) | WO2021072839A1 (en) |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3310209C2 (en) * | 1983-03-21 | 1987-01-08 | Manutec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth | Parallel grippers for industrial robots |
| JPS61257721A (en) * | 1985-05-10 | 1986-11-15 | Oki Electric Ind Co Ltd | Positioning device in clamp of bar-shaped part |
| DE9213010U1 (en) * | 1992-09-26 | 1992-11-26 | Sommer Automatic GmbH, 7541 Straubenhardt | Gripper with rotating fingers |
| JP5685027B2 (en) * | 2010-09-07 | 2015-03-18 | キヤノン株式会社 | Information processing apparatus, object gripping system, robot system, information processing method, object gripping method, and program |
| JP5618198B2 (en) * | 2010-09-24 | 2014-11-05 | 株式会社安川電機 | Hand and robot |
| JP5480340B2 (en) * | 2012-07-26 | 2014-04-23 | ファナック株式会社 | Take-out robot system using roller device |
| CN203665542U (en) * | 2014-01-08 | 2014-06-25 | 安徽江淮汽车股份有限公司 | Carrying clamping device for cylindrical objects |
| ES2856402T3 (en) * | 2014-12-22 | 2021-09-27 | Kuka Systems Aerospace | Gripping device for mechanical clamping elements |
| CN105459023B (en) * | 2015-12-30 | 2017-05-24 | 广西玉柴机器股份有限公司 | Camshaft assembling mechanism |
| CN208034747U (en) * | 2018-01-22 | 2018-11-02 | 广州胶管厂有限公司 | A kind of sebific duct process units |
| CN208033824U (en) * | 2018-03-29 | 2018-11-02 | 成都锐点精密工具有限公司 | A kind of cutting machine |
| CN209394680U (en) * | 2018-12-10 | 2019-09-17 | 魏莆淳 | Manipulator and robot |
-
2019
- 2019-10-15 CN CN201910978510.9A patent/CN110774299B/en not_active Expired - Fee Related
- 2019-11-07 WO PCT/CN2019/116198 patent/WO2021072839A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| CN110774299A (en) | 2020-02-11 |
| WO2021072839A1 (en) | 2021-04-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102001095B (en) | Robot arm component and robot | |
| CN102003509B (en) | Rotary-linear movement change mechanism and actuator | |
| CN102107434A (en) | Arm component for robot | |
| CN1958370A (en) | Electric automotive power steering device with a belt-type transmission | |
| CN102114630A (en) | Robot arm component | |
| CN211438158U (en) | Manual connecting rod chuck | |
| CN110774299B (en) | Fingertip mechanism | |
| CN2672379Y (en) | Automatic motor output turning system | |
| CN108880091A (en) | A kind of Two axle drive harmonic wave reducing motor | |
| CN100471615C (en) | Full-automatic multiheaded aluminum cover side raised type machine | |
| CN109158707A (en) | A kind of special shape gear processing chuck | |
| CN210225224U (en) | Efficient bidirectional angle-switchable linear motor module | |
| CN221111846U (en) | Rotary clamping device and industrial robot | |
| CN208397247U (en) | A kind of speed changing device | |
| CN110510052B (en) | Brushless motor of gasoline-electric hybrid motorcycle | |
| CN107355513B (en) | Transmission structure and rearview mirror driver | |
| CN220822826U (en) | Rotary output actuator | |
| CN220570410U (en) | Servo motor with replaceable spindle end | |
| CN113883237B (en) | Mechanical abrupt change speed gear structure | |
| CN221184761U (en) | Double telescopic full-stroke chuck | |
| CN215617520U (en) | Clamp for bearing machining | |
| CN219262828U (en) | Mechanism with hydraulic cylinder driving shaft for rotation and power supply device | |
| CN219379621U (en) | Tooth alignment assembly machine | |
| CN218802323U (en) | Clamping jaw tool without slip ring and capable of rotating 360 degrees | |
| CN209875888U (en) | Magnetic transmission type spiral assembling equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200731 |